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cs.RO2026
Graph-MambaNav: Spatial-Temporal Graph Mamba Leveraging Object-Relation Knowledge for Object-Goal Navigation
Leyuan Sun, Genxin Chen, Linwei Ye +3
Object-goal navigation requires an agent to reason over object relationships and prioritize target-relevant objects for efficient decision making in unseen environments. While exis…
cs.RO2024
Leveraging Large Language Model-based Room-Object Relationships Knowledge for Enhancing Multimodal-Input Object Goal Navigation
Leyuan Sun, Asako Kanezaki, Guillaume Caron +1
Object-goal navigation is a crucial engineering task for the community of embodied navigation; it involves navigating to an instance of a specified object category within unseen en…
cs.RO2023
TransFusionOdom: Interpretable Transformer-based LiDAR-Inertial Fusion Odometry Estimation
Leyuan Sun, Guanqun Ding, Yue Qiu +2
Multi-modal fusion of sensors is a commonly used approach to enhance the performance of odometry estimation, which is also a fundamental module for mobile robots. However, the ques…